This paper discusses the control design of a magnetically guided microrobotic system in blood vessels to perform minimally invasive medical procedures. Such microrobots consist polymer-bonded aggregate nanosized ferromagnetic particles and possible payload that can be propelled by gradient coils magnetic device. A fine modeling is developed used define an optimal trajectory which minimizes efforts. We then synthesize adaptive backstepping law ensures Lyapunov stable tracking, despite errors,...

This paper deals with the benefits of using a nonlinear model-based approach for controlling magnetically guided therapeutic microrobots in cardiovascular system. Such robots used minimally invasive interventions consist polymer binded aggregate nanosized ferromagnetic particles functionalized by drug-conjugated micelles. The proposed modeling addresses wall effects (blood velocity minor and major vessels' bifurcations, pulsatile blood flow vessel walls, effect robot-to-vessel diameter...

This paper reports the use of a MRI device to pull magnetic microrobot inside vessel and control its trajectory. The bead subjected hydrodynamic forces is first modeled as nonlinear system. Then, backstepping approach discussed in order synthesize feedback law ensuring stability along controlled We show that this law, combined with high gain observer, provides good tracking performances robustness measurement noise well some matched uncertainties.

This letter deals with the local stabilization of continuous-time Takagi-Sugeno (T-S) systems under saturated actuators and driven by sampled-data controllers. The generalized sector condition is used to cope signals closed-loop dynamics rewritten as a T-S system input time-varying delays. Then, selecting convenient Lyapunov-Krasovskii Functional application some useful overbounding techniques, new LMI-based conditions are proposed for design Parallel-Distributed-Compensation controllers,...

This paper aims to estimate the blood velocity enhance navigation of an aggregate in human vasculature. The considered system is a polymer-binded ferromagnetic nanorobots immersed vessel. drag force depends on and especially acts dynamics. In design advanced control laws, usually assumed be known or set constant mean value achieve objectives. We provide theoretical tools online from sole measurement position combine state estimator with backstepping law. Two estimation approaches are...

-A microrobot consisting of a polymer binded aggregate ferromagnetic particles is controlled using Magnetic Resonance Imaging (MRI) device in order to achieve targeted therapy. The primary contribution this paper the design an adaptive backstepping controller coupled with high gain observer based on nonlinear model blood vessel. This work motivated by difficulty accurately determining many biological parameters, which can result parametric uncertainties model-based approaches are highly...

This paper reports modeling and control of a microsized polymer aggregate magnetic particles inside an artery, using MRI device for supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behavior blood is considered, as well wall effects interactions, resulting highly nonlinear model. A backstepping approach synthesized ensure Lyapunov stability along pre-planned trajectory inherited from the model, with robustness concerns.

This paper reports precise modeling and controller/ observer design for a microsized polymer aggregate of magnetic particles inside an artery, using Magnetic Resonance Imaging (MRI) device supplying propulsion in order to achieve targeted chemotherapy. Non-Newtonian behaviour blood is taken into account, as well wall effects interactions, resulting highly nonlinear model. A High Gain Observer designed reconstruct the unmeasured state, so that backstepping controller can be synthesized....

This paper deals with the D-stabilization of quasi-LPV/Takagi-Sugeno (T-S) models. Based on a Quadratic Lyapunov Function (QLF) candidate, basic conditions are presented for design D-stabilizing Parallel Distributed Compensation (PDC) control, i.e LMI region constraints. Then, relaxed quadratic proposed in order to non-PDC controller. The results illustrated simulation through an academic example, then benchmark stabilization flexible robot single joint.

This paper considers the event-triggered control problem for a class of Networked Control Systems (NCS) subject to transmission delays and stochastic deception attacks. A new fuzzy weighted memory mechanism is proposed reduce network bandwidth consumption data rates. In this context, state feedback controller stabilize closed-loop NCS. Considering security NCS, randomly occurring attack model employed, assuming bounded malicious signals injected by attacker. Based on suitable...

This paper presents a new non Parallel Distributed Compensation (non-PDC) controllers design based on line-Integral Lyapunov functions for continuous-time Takagi-Sugeno (T-S) fuzzy models. The previous works are mainly BMI formulation (LMI first and second order systems only). In this paper, we show that using property dual system, it can be possible to formulate the of controller as an LMI problem n-th T-S systems. Two simulations provided effectiveness proposed approach : numerical...

The chemotherapy magnetically controlled under Magnetic Resonance Imaging (MRI) is currently one of the active areas cancer research. This paper proposes a precise model therapeutic microrobot steered in blood vessels. modeling approach takes into account non-Newtonian behavior blood, as well wall effect on blood's profile and robot-to-wall interaction forces. A backstepping law used to ensure null error between real trajectory an optimal reference deduced from highly nonlinear model....

This paper investigates the sampled-data control of continuous-time Takagi-Sugeno (T-S) fuzzy systems. The closed-loop dynamics is rewritten as a T-S system with input time-varying delays. In this context, asynchronous membership functions appears in dynamics. Thus, to reduce conservatism design conditions involving mismatch functions, dedicated relaxation scheme proposed. Then, from convenient Lyapunov-Krasovskii function and application Finsler’s Lemma, new LMI-based are proposed for...

This paper investigates the importance of considering discrete-time nature embedded controllers for continuous-time dynamical systems, namely sampled-data control approach. To illustrate such approach, an experimental study is conducted with Quanser <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> AERO platform in its 2-DOF helicopter configuration. New LMI-based conditions are provided design linear systems. These obtained from usual...

This paper presents new non-Parallel-Distributed-Compensation (non-PDC) controllers design conditions for continuous-time Takagi-Sugeno (T-S) models with pole placement assignation. Based on the D-stability concept, a desired transient response may be obtained by placing poles of T-S closed-loop system in specific region complex plan. After deriving standard non-quadratic system, relaxed LMI-based are from enhanced Fuzzy Lyapunov Functions (FLF), which involve double sum fuzzy structure. The...

This paper deals with the robust D-stabilization of uncertain Takagi-Sugeno (T-S) fuzzy systems. New Linear Matrix Linearity (LMI) conditions are proposed for design non Parallel-Distributed-Compensation (non-PDC) controllers D-stability constraints, i.e forcing poles each linear polytopes closed-loop T-S plant model uncertainties to belong in a prescribed LMI region. The obtained through use quadratic Lyapunov function candidate and relaxed by introduction free weighting matrices. To...